Description

Rigid tire model.

This tire is modeled as a rigid cylinder. Requires a terrain system that supports rigid contact with friction.

#include <ChRigidTire.h>

Inheritance diagram for chrono::vehicle::ChRigidTire:

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Collaboration diagram for chrono::vehicle::ChRigidTire:

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Public Member Functions
	ChRigidTire (const std::string &name)

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

void	SetMeshFilename (const std::string &mesh_file, double sweep_sphere_radius=0)
	Set Wavefront OBJ file for contact mesh. More...

bool	UseContactMesh () const
	Check whether or not this tire uses a contact mesh.

virtual TerrainForce	ReportTireForce (ChTerrain *terrain) const override
	Report the tire force and moment. More...

virtual TerrainForce	ReportTireForceLocal (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override
	Get the tire force and moment expressed in the tire frame. More...

std::shared_ptr< ChContactMaterial >	GetContactMaterial () const
	Get the tire contact material. More...

virtual void	AddVisualizationAssets (VisualizationType vis) override
	Add visualization assets for the rigid tire subsystem.

virtual void	RemoveVisualizationAssets () override
	Remove visualization assets for the rigid tire subsystem.

std::shared_ptr< ChTriangleMeshConnected >	GetContactMesh () const
	Get the contact mesh.

void	GetMeshVertexStates (std::vector< ChVector3d > &pos, std::vector< ChVector3d > &vel) const
	Get the current state of the collision mesh. More...

Public Member Functions inherited from chrono::vehicle::ChTire
void	SetStepsize (double val)
	Set the integration step size for the underlying dynamics (default: 1ms). More...

double	GetStepsize () const
	Get the current value of the integration step size.

void	SetCollisionType (CollisionType collision_type)
	Set the collision type for tire-terrain interaction (default: SINGLE_POINT). More...

void	SetContactSurfaceType (ContactSurfaceType type, double dim=0.01, int collision_family=13)
	Set the contact surface type (default: NODE_CLOUD). More...

void	SetPressure (double pressure)
	Set the internal tire pressure [Pa] (default: 0). More...

double	GetPressure () const
	Get the internal tire pressure [Pa].

virtual double	GetRadius () const =0
	Get the tire radius.

virtual double	GetWidth () const =0
	Get the tire width.

virtual double	GetTireMass () const =0
	Return the tire mass.

virtual ChVector3d	GetTireInertia () const =0
	Return the tire moments of inertia (in the tire centroidal frame).

double	GetSlipAngle () const
	Return the tire slip angle calculated based on the current state of the associated wheel body. More...

double	GetLongitudinalSlip () const
	Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...

double	GetCamberAngle () const
	Return the tire camber angle calculated based on the current state of the associated wheel body. More...

virtual double	GetDeflection () const
	Report the tire deflection.

const std::string &	GetMeshFilename () const
	Get the name of the Wavefront file with tire visualization mesh. More...

std::shared_ptr< ChWheel >	GetWheel () const
	Get the associated wheel. More...

virtual void	Advance (double step)
	Advance the state of this tire by the specified time step.

Public Member Functions inherited from chrono::vehicle::ChPart
const std::string &	GetName () const
	Get the name identifier for this subsystem.

void	SetName (const std::string &name)
	Set the name identifier for this subsystem.

bool	IsInitialized () const
	Return flag indicating whether or not the part is fully constructed.

double	GetMass () const
	Get the subsystem mass. More...

const ChFrame &	GetCOMFrame () const
	Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...

const ChMatrix33 &	GetInertia () const
	Get the current subsystem inertia (relative to the subsystem COM frame). More...

const ChFrame &	GetTransform () const
	Get the current subsystem position relative to the global frame. More...

void	SetVisualizationType (VisualizationType vis)
	Set the visualization mode for this subsystem.

virtual void	SetOutput (bool state)
	Enable/disable output for this subsystem.

bool	OutputEnabled () const
	Return the output state for this subsystem.

virtual void	ExportComponentList (rapidjson::Document &jsonDocument) const
	Export this subsystem's component list to the specified JSON object. More...

virtual void	Output (ChVehicleOutput &database) const
	Output data for this subsystem's component list to the specified database.

Protected Member Functions
virtual void	CreateContactMaterial (ChContactMethod contact_method)=0
	Create the contact material consistent with the specified contact method.

virtual void	InitializeInertiaProperties () override final
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties () override final
	Update subsystem inertia properties. More...

virtual double	GetAddedMass () const override final
	Get the mass added to the associated spindle body. More...

virtual ChVector3d	GetAddedInertia () const override final
	Get the inertia added to the associated spindle body. More...

virtual TerrainForce	GetTireForce () const override final
	Get the tire force and moment. More...

virtual void	Initialize (std::shared_ptr< ChWheel > wheel) override
	Initialize this tire by associating it to the specified wheel.

virtual void	Synchronize (double time, const ChTerrain &terrain) override
	Update the state of this tire system at the current time. More...

Protected Member Functions inherited from chrono::vehicle::ChTire
	ChTire (const std::string &name)
	Construct a tire subsystem with given name.

void	CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame)
	Calculate kinematics quantities based on the given state of the associated wheel body. More...

double	GetOffset () const
	Get offset from spindle center. More...

std::shared_ptr< ChVisualShapeTriangleMesh >	AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right)
	Add mesh visualization to the body associated with this tire (a wheel spindle body). More...

Protected Member Functions inherited from chrono::vehicle::ChPart
	ChPart (const std::string &name)
	Construct a vehicle subsystem with the specified name.

void	AddMass (double &mass)
	Add this subsystem's mass. More...

void	AddInertiaProperties (ChVector3d &com, ChMatrix33<> &inertia)
	Add this subsystem's inertia properties. More...

virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. More...

void	ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const
	Export the list of bodies to the specified JSON document.

void	ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const
	Export the list of shafts to the specified JSON document.

void	ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const
	Export the list of joints to the specified JSON document.

void	ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const
	Export the list of shaft couples to the specified JSON document.

void	ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const
	Export the list of markers to the specified JSON document.

void	ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const
	Export the list of translational springs to the specified JSON document.

void	ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const
	Export the list of rotational springs to the specified JSON document.

void	ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads) const
	Export the list of body-body loads to the specified JSON document.

Protected Attributes
std::shared_ptr< ChContactMaterial >	m_material
	contact material;

bool	m_use_contact_mesh
	flag indicating use of a contact mesh

std::string	m_contact_meshFile
	name of the OBJ file for contact mesh

double	m_sweep_sphere_radius
	radius of sweeping sphere for mesh contact

std::shared_ptr< ChTriangleMeshConnected >	m_trimesh
	contact mesh

std::shared_ptr< ChVisualShape >	m_cyl_shape
	visualization cylinder asset

Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheel >	m_wheel
	associated wheel subsystem

double	m_stepsize
	tire integration step size (if applicable)

double	m_pressure
	internal tire pressure

CollisionType	m_collision_type
	method used for tire-terrain collision

ContactSurfaceType	m_contact_surface_type
	type of contact surface model (node cloud or mesh)

double	m_contact_surface_dim
	contact surface dimension (node radius or mesh thickness)

int	m_collision_family
	collision family for this tire

std::string	m_vis_mesh_file
	name of OBJ file for visualization of this tire (may be empty)

double	m_slip_angle

double	m_longitudinal_slip

double	m_camber_angle

Protected Attributes inherited from chrono::vehicle::ChPart
std::string	m_name
	subsystem name

bool	m_initialized
	specifies whether ot not the part is fully constructed

bool	m_output
	specifies whether or not output is generated for this subsystem

std::shared_ptr< ChPart >	m_parent
	parent subsystem (empty if parent is vehicle)

double	m_mass
	subsystem mass

ChMatrix33	m_inertia
	inertia tensor (relative to subsystem COM)

ChFrame	m_com
	COM frame (relative to subsystem reference frame)

ChFrame	m_xform
	subsystem frame expressed in the global frame

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChTire
enum	CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }
	Collision detection type. More...

enum	ContactSurfaceType { NODE_CLOUD, TRIANGLE_MESH }
	Contact surface type. More...

Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector3d	EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2)
	Utility function for estimating the tire moments of inertia. More...

Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33	TransformInertiaMatrix (const ChVector3d &moments, const ChVector3d &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
	Utility function for transforming inertia tensors between centroidal frames. More...

Static Protected Member Functions inherited from chrono::vehicle::ChTire
static bool	DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection, using the specified method. More...

static void	ConstructAreaDepthTable (double disc_radius, ChFunctionInterp &areaDep)
	Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. More...

static bool	DiscTerrainCollision1pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection. More...

static bool	DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection considering the curvature of the road surface. More...

static bool	DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Collsion algorithm based on a paper of J. More...

Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void	RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item)
	Erase all visual shapes from the visual model associated with the specified physics item (if any).

static void	RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape)
	Erase the given shape from the visual model associated with the specified physics item (if any).

Constructor & Destructor Documentation

◆ ChRigidTire()

chrono::vehicle::ChRigidTire::ChRigidTire ( const std::string & name )

Parameters

[in] name name of this tire system

Member Function Documentation

◆ GetAddedInertia()

ChVector3d chrono::vehicle::ChRigidTire::GetAddedInertia ( ) const

finaloverrideprotectedvirtual

Get the inertia added to the associated spindle body.

Certain tires (e.g., those FEA-based) have their own physical representation and hence do not add mass and inertia to the spindle body. All others increment the spindle body moments of inertia by the amount reported by this function.

Implements chrono::vehicle::ChTire.

◆ GetAddedMass()

double chrono::vehicle::ChRigidTire::GetAddedMass ( ) const

finaloverrideprotectedvirtual

Get the mass added to the associated spindle body.

Certain tires (e.g., those FEA-based) have their own physical representation and hence do not add mass and inertia to the spindle body. All others increment the spindle body mass by the amount repoirted by this function.

Implements chrono::vehicle::ChTire.

◆ GetContactMaterial()

std::shared_ptr<ChContactMaterial> chrono::vehicle::ChRigidTire::GetContactMaterial ( ) const

inline

Get the tire contact material.

Note that this is not set until after tire initialization.

◆ GetMeshVertexStates()

void chrono::vehicle::ChRigidTire::GetMeshVertexStates	(	std::vector< ChVector3d > &	pos,
		std::vector< ChVector3d > &	vel
	)		const

Get the current state of the collision mesh.

Mesh vertex positions and velocities are returned in the absolute frame.

Parameters

pos	mesh vertex positions (expressed in absolute frame)
vel	mesh vertex velocities (expressed in absolute frame)

◆ GetTireForce()

TerrainForce chrono::vehicle::ChRigidTire::GetTireForce ( ) const

finaloverrideprotectedvirtual

Get the tire force and moment.

A ChRigidTire always returns zero force and moment since tire forces are automatically applied to the associated wheel through Chrono's frictional contact system.

Implements chrono::vehicle::ChTire.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChRigidTire::InitializeInertiaProperties ( )

finaloverrideprotectedvirtual

Initialize subsystem inertia properties.

Derived classes must override this function and set the subsystem mass (m_mass) and, if constant, the subsystem COM frame and its inertia tensor. This function is called during initialization of the vehicle system.

Implements chrono::vehicle::ChPart.

◆ ReportTireForce()

TerrainForce chrono::vehicle::ChRigidTire::ReportTireForce ( ChTerrain * terrain ) const

overridevirtual

Report the tire force and moment.

This generalized force encapsulates the tire-terrain forces (i.e. the resultant of all contact forces acting on the tire). The force and moment are expressed in global frame, as applied to the center of the associated wheel.

Implements chrono::vehicle::ChTire.

◆ ReportTireForceLocal()

TerrainForce chrono::vehicle::ChRigidTire::ReportTireForceLocal	(	ChTerrain *	terrain,
		ChCoordsys<> &	tire_frame
	)		const

overridevirtual

Get the tire force and moment expressed in the tire frame.

Currently NOT IMPLEMENTED.

Implements chrono::vehicle::ChTire.

◆ SetMeshFilename()

void chrono::vehicle::ChRigidTire::SetMeshFilename	(	const std::string &	mesh_file,
		double	sweep_sphere_radius = `0`
	)

Set Wavefront OBJ file for contact mesh.

Parameters

[in]	mesh_file	name of Wavefront file
[in]	sweep_sphere_radius	radius of sweeping sphere

◆ Synchronize()

void chrono::vehicle::ChRigidTire::Synchronize	(	double	time,
		const ChTerrain &	terrain
	)

overrideprotectedvirtual

Update the state of this tire system at the current time.

Parameters

[in]	time	current time
[in]	terrain	reference to the terrain system

Reimplemented from chrono::vehicle::ChTire.

◆ UpdateInertiaProperties()

void chrono::vehicle::ChRigidTire::UpdateInertiaProperties ( )

finaloverrideprotectedvirtual

Update subsystem inertia properties.

Derived classes must override this function and set the global subsystem transform (m_xform) and, unless constant, the subsystem COM frame (m_com) and its inertia tensor (m_inertia). Calculate the current inertia properties and global frame of this subsystem. This function is called every time the state of the vehicle system is advanced in time.

Implements chrono::vehicle::ChPart.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChRigidTire.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChRigidTire.cpp

Description

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChRigidTire()

Member Function Documentation

◆ GetAddedInertia()

◆ GetAddedMass()

◆ GetContactMaterial()

◆ GetMeshVertexStates()

◆ GetTireForce()

◆ InitializeInertiaProperties()

◆ ReportTireForce()

◆ ReportTireForceLocal()

◆ SetMeshFilename()

◆ Synchronize()

◆ UpdateInertiaProperties()